CN104950884A - Cooperative control method of bionic fish for large-range water monitoring - Google Patents
Cooperative control method of bionic fish for large-range water monitoring Download PDFInfo
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Abstract
The invention relates to a cooperative control method of bionic fish for large-range water monitoring. According to the method, water quality parameter information is acquired by means of group control of multiple mobile nodes. A pilot bionic node and follower bionic nodes are shaped in tunas. The pilot bionic node floats and inspects in a surface area, informs the follower bionic nodes in water about queue information by means of hydroacoustic broadcasting, collects the water quality parameter information acquired by the follower bionic nodes, and communicates with a shore base station. The follower bionic nodes receive the queue information, move with the pilot bionic node in a certain geometric form, and collect and send the water quality parameter information. The pilot and follower bionic nodes are communicated in a hydroacoustic manner; the pilot bionic node is communicated with the shore base station by the GPRS (general packet radio service) technology; a group system is controlled in a distributed fuzzy group control manner, remote control is available, the test range is wide, precision is high, water quality parameters of different water areas are monitored online, and the applicable prospect is promising.
Description
[technical field]
The present invention relates to a kind of water quality monitoring method, be specifically related to a kind of Biomimetic Fish cooperative control method towards water quality monitoring on a large scale, belong to water quality monitoring technical field.
[background technology]
At present, the water quality monitoring method of China has Laboratory Monitoring, automatically monitoring and mobile monitoring.Laboratory Monitoring is by arranging some section right place instantaneous sample, then sample is taken back laboratory and carry out instrumental analysis, though the high but water sample stored of analysis precision can change because of the flocking settling of suspension and the impact of the metabolic process of biology, dead decomposable process etc., and real-time property is poor.Automatic monitoring is the on-the-spot Water Automatic Monitoring System be set in basin, and building an automatic monitor station needs to build special factory building, and online water analysis instrument price is also very expensive simultaneously.Mobile monitoring mostly is the water quality monitoring ship of pilot steering, and not only cost is high but also there is secondary pollution.
Along with the rise of technology of Internet of things, underwater monitoring combining wireless Sensor Network is more and more subject to people's attention.Small volume, the mobile water quality monitoring node that investigative range is wide, precision is high has larger social value and economic benefit.How to allow these nodes can network consisting, gather water quality parameter synergistically and seem particularly important.
Therefore, for solving the problems of the technologies described above, the necessary Biomimetic Fish cooperative control method towards water quality monitoring on a large scale providing a kind of innovation, to overcome described defect of the prior art.
[summary of the invention]
For solving the problems of the technologies described above, the object of the invention is to a kind of small volume, investigative range is wide, precision is high, can the Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of water quality parameter in the different waters of on-line monitoring.
For achieving the above object, the technical scheme that the present invention takes is: a kind of Biomimetic Fish cooperative control method towards water quality monitoring on a large scale, and it comprises the bionical node that navigates, follows bionical node and base station on the bank; It comprises the steps:
S1: base station sends running orbit steering order to the bionical node of navigator on the bank;
S2: follow bionical node searching and to navigate bionical node location, calculate relative distance and angle;
S3: according to fuzzy control method, follows the trail of the bionical node that navigates, gathers and send water quality parameter;
S4: the bionical node that navigates receives the information of following bionical node and sending, is sent to base station on the bank after parsing, packing;
S5: repeat step S1 ~ S5.
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention is further: described fuzzy control method comprises the steps:
S31: obtain relative distance, relative angle, its domain is set up two each and every one membership functions, output domain sets up the speed of a ship or plane and six, course membership function;
S32: discretize is carried out to input, is divided into N, M discrete value;
S33: after input discrete value, calculate its fuzzy output according to 3 × 3 fuzzy inference rule tables that practical experience is set up, obtain M × N to decision value, described fuzzy control strategy comprises speed of a ship or plane information and course information;
S34: control direct current generator and steering wheel respectively according to fuzzy polling list, the multiple bionical mobile node of fuzzy formation control is collaborative to advance.
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention is further: described fuzzy formation control strategy also comprises direction information and rotary speed information, and the fuzzy polling list of described direction information and rotary speed information institute foundation calculates gained by following indistinct logic computer in advance:
Input: relative distance is far away, moderate, comparatively near with relative angle is less than normal, just in time, bigger than normal, set according to navigate-following mobile node relative position actual conditions; Relative distance is comparatively near at 0 ~ 5 meter, and 5 ~ 6 meters moderate, is greater than 6 meters far away; Relative angle is less than normal at 0 ~ 40 degree, and 40 ~ 50 degree just in time, and 50 ~ 90 degree bigger than normal;
Fuzzy rule is as follows:
If the moderate and relative angle of relative distance just in time, then decision-making is at the uniform velocity, moves ahead;
If relative distance is moderate and relative angle is less than normal, then decision-making is at the uniform velocity, turns left;
If relative distance is moderate and relative angle is bigger than normal, then decision-making is at the uniform velocity, turns right;
If the comparatively near and relative angle of relative distance just in time, then decision-making is for slowing down, and moves ahead;
If relative distance is comparatively near and relative angle is less than normal, then decision-making is for slowing down, and turns left;
If relative distance is comparatively near and relative angle is bigger than normal, then decision-making is for slowing down, and turns right;
If the comparatively far away and relative angle of relative distance just in time, then decision-making is for accelerating, and moves ahead;
If relative distance is comparatively far away and relative angle is less than normal, then decision-making is for accelerating, and turns left;
If relative distance is comparatively far away and relative angle is bigger than normal, then decision-making is for accelerating, and turns right;
Discretize is carried out to input:
Relative distance 0-1 rice is classified as 0.5 meter, and 1-2 rice is classified as 1.5 meters, and 2-3 rice is classified as 2.5 meters, and 3-4 rice is classified as 3.5 meters, and 4-5 rice is classified as 4.5 meters, and 5-6 rice is classified as 5.5 meters, and 6-7 rice is classified as 6.5 meters, and 7-8 rice is classified as 7.5 meters, is greater than 8 meters and is classified as 8 meters;
Relative angle 0-10 degree is classified as 5 degree, and 10-20 degree is classified as 15 degree, and 20-30 degree is classified as 25 degree, and 30-40 degree is classified as 35 degree, and 40-50 degree is classified as 45 degree, and 50-60 degree is classified as 55 degree, and 60-70 degree is classified as 65 degree, and 70-80 degree is classified as 75 degree, and 80-90 degree is classified as 85 degree;
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention further for: described in follow bionical node system and comprise water quality sensor, electric charges amplify module, analog-to-digital conversion module, one-chip computer module, underwater sound communication module, GPRS module, locating module, attitude detection module, motor drive module, direct current generator, steering wheel and micro pump, described water quality sensor gathers water quality parameter information, described electric charges amplify module and water quality sensor, analog-to-digital conversion module is connected, described analog-to-digital conversion module is to the multiple signals synchronized sampling of multiple electric charges amplify resume module, described single-chip microcomputer processes the signal that modulus is sampled, described underwater sound communication module is by single-chip microcomputer output signal broadcast or reception instruction in water, single-chip microcomputer output signal ashore sends or receives instruction by described GPRS module, described motor drive module drives direct current generator and micro pump, described direct current generator, micro pump and steering wheel Collaboration respectively control biomimetics mobile node are advanced, turn to and rise and fall, described locating module acquisition node positional information.
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention is further: described water quality parameter collection, underwater sound communication system, power system, locating module and attitude detection module share a microprocessor, and described microprocessor is ARM Cortex M3 kernel 32 high performance STM32F103 chips.
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention is further: the bionical node of described navigator, follow the appearance design that bionical node adopts imitative tuna.
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention also can be: the bionical node of described navigator and follow between bionical node and adopt underwater sound communication.
Compared with prior art, the present invention has following beneficial effect:
1. mobile node imitates the appearance design of tuna, has translational speed fast, the features such as environmental suitability is strong.
2. the underwater sound communication system utilizing transmitting transducer and receiving transducer to form, realizes telecommunication under water.
3. the bionical node of navigator in region of bubbling through the water column forwards water quality parameter information ashore base station in GPRS mode, and data transmission efficiency is high.
4. many mobile nodes are with the mode coordinated drive of forming into columns, and monitor water environment simultaneously, and sensing range is wide, and precision is high.
5. adopt distributed fuzzy control algorithm, following bionical node can navigate bionical node follow the trail of its running orbit by automatic searching.
6. on-line real time monitoring water quality effectively, once find that water quality deterioration appears in part waters, will notify base station on the bank in time.
[accompanying drawing explanation]
Fig. 1 is the overall schematic of the Biomimetic Fish system towards water quality monitoring on a large scale of the present invention;
Fig. 2 is for building figure with bionical node system;
Fig. 3 is three mobile node flight pattern schematic diagram;
Fig. 4 is the bionical node procedure process flow diagram that navigates;
Fig. 5 is for following bionical node procedure process flow diagram;
Fig. 6 is relative distance membership function schematic diagram;
Fig. 7 is relative angle membership function schematic diagram;
Fig. 8 is output speed membership function schematic diagram;
Fig. 9 is for exporting angle membership function schematic diagram;
Figure 10 is for being motor drive module connection layout.
Figure 11 is power module.
[embodiment]
Below in conjunction with accompanying drawing, the technical scheme in the present invention is conducted further description:
With reference to Fig. 1, a kind of Biomimetic Fish cooperative control method towards water quality monitoring on a large scale, comprises the bionical node 1 that navigates, follows bionical node 2 and base station 3 on the bank.Describedly follow bionical node collection and send water quality parameter information, automatic tracing navigates bionical node running orbit (program flow diagram is shown in Fig. 4), the bionical mobile node of described navigator is bubbled through the water column, the underwater sound is utilized to receive the water quality parameter information of following the collection of bionical node, be sent to base station on the bank after conversion, receive the running status steering order (program flow diagram is shown in Fig. 5) sent base station on the bank simultaneously.The bionical node of described navigator 1, follow the appearance design that bionical node 2 adopts imitative tuna, there is translational speed fast, the features such as environmental suitability is strong; And the bionical node 1 and follow between bionical node 2 and adopt underwater sound communication of navigating, feasibility is high; The bionical node that navigates receives the information of following bionical node and sending, and be transmitted to base station on the bank in GPRS mode after parsing, long transmission distance, communication efficiency is higher, can realize programming remote control, the water quality parameter in the different waters of on-line monitoring.Described follow bionical node 2 can independently follow the trail of navigate bionical node running orbit, can increase arbitrarily or reduce and follow bionical number of nodes, freely change formation.
With reference to Fig. 2, described in follow bionical node system and build figure, comprise water quality sensor 21, electric charges amplify module 22, analog-to-digital conversion module 23, one-chip computer module 24, underwater sound communication module 25, GPRS module 26, locating module 211, attitude detection module 212, motor drive module 27, direct current generator 28, steering wheel 29 and micro pump 210, described water quality sensor 21 gathers water quality parameter information, described electric charges amplify module 23 and water quality sensor 21, analog-to-digital conversion module 23 is connected, the multiple signals synchronized sampling that described analog-to-digital conversion module 23 processes multiple electric charges amplify module 22, the signal of described single-chip microcomputer 24 pairs of modulus samplings processes, single-chip microcomputer 25 is outputed signal broadcast or reception instruction in water by described underwater sound communication module 25, single-chip microcomputer 24 outputs signal and ashore sends or receive instruction by described GPRS module 26, described motor drive module 27 drives direct current generator 28 and micro pump 210, described direct current generator 28, micro pump 210 and steering wheel 29 Collaboration respectively control biomimetics mobile node 2 are advanced, turn to and rise and fall, described locating module 211 acquisition node positional information.Wherein, described water quality parameter collection 21, underwater sound communication system 25, direct current generator 28, steering wheel 29, micro pump 210, locating module 211 and attitude detection module 212 share a microprocessor, and described microprocessor is ARM Cortex M3 kernel 32 high performance STM32F103 chips.
As shown in figs. 3 to 9, the invention provides a kind of Biomimetic Fish cooperative control method towards water quality monitoring on a large scale, comprise the following steps:
S1: base station sends running orbit steering order to the bionical node of navigator on the bank, after the bionical node that navigates receives steering order by GPRS, exportable PWM ripple controls direct current generator, steering wheel and micro pump and enters the pattern of cruising, and broadcasts formation information in underwater sound mode.
S2: follow bionical node and to be navigated bionical node location by acoustic sweep, after receiving formation information, relative distance and angle can be calculated;
S3: according to FUZZY ALGORITHMS FOR CONTROL, follows the control of bionical node output PWM ripple direct current generator, steering wheel and micro pump and enters tracking pattern, follow the trail of the bionical node running orbit that navigates, gather simultaneously and send water quality parameter information;
S4: the bionical node that navigates receives the water quality parameter information of following bionical node and sending, is sent to base station on the bank after parsing, packing;
S5: repeat step S1 ~ S5.
Biomimetic Fish cooperative control method towards water quality monitoring on a large scale of the present invention adopts multiple mobile node formation control mode to gather water quality parameter information.Mobile node imitates tuna appearance design, can be divided into and navigates bionical node and follow bionical node.Cruising in the bionical node that navigates region of bubbling through the water column, informs and follow bionical node formation information in water, collect the water quality parameter information of following bionical node and gathering simultaneously in the mode of underwater sound broadcast, and realize communicating with base station on the bank.Follow after bionical mobile node receives formation information and follow with certain geometric configuration bionical node motion of navigating, and gather, send water quality parameter information.Navigate and follow between bionical node and adopt water sound communication technique, navigate bionical node and adopt the GPRS communication technology between base station on the bank.Fleet system adopts distributed fuzzy formation control mode, can realize Long-distance Control, and test specification is wide, and precision is high, the water quality parameter in the different waters of on-line monitoring.
Further, by fuzzy formation control mode, utilize and navigate and follow bionical internodal relative distance, direction coordinated drive one navigates bionical node and multiplely follow bionical node, perception extensively, can monitor water quality environment on a large scale.Described fuzzy control method comprises:
S31: obtain relative distance, relative angle, its domain is set up two membership functions, output domain sets up the speed of a ship or plane and six, course membership function;
S32: discretize is carried out to input, is divided into N, M discrete value;
S33: after input discrete value, calculate its fuzzy output according to 3 × 3 fuzzy inference rule tables that practical experience is set up, obtain M × N to decision value, described fuzzy control strategy comprises speed of a ship or plane information and course information;
S34: the fuzzy polling list according to anti fuzzy method controls direct current generator and steering wheel respectively, the multiple bionical mobile node of formation control is collaborative to advance.
Further, described fuzzy formation control strategy comprises direction information and rotary speed information, and the fuzzy polling list of described direction information and rotary speed information institute foundation calculates gained by following indistinct logic computer in advance:
Input: relative distance is far away, moderate, comparatively near with relative angle is less than normal, just in time, bigger than normal, set according to navigate-following mobile node relative position actual conditions.Relative distance is comparatively near at 0 ~ 5 meter, and 5 ~ 6 meters moderate, is greater than 6 meters far away; Relative angle is less than normal at 0 ~ 40 degree, and 40 ~ 50 degree just in time, and 50 ~ 90 degree bigger than normal.
Fuzzy rule is as follows:
If the moderate and relative angle of relative distance just in time, then decision-making is at the uniform velocity, moves ahead;
If relative distance is moderate and relative angle is less than normal, then decision-making is at the uniform velocity, turns left;
If relative distance is moderate and relative angle is bigger than normal, then decision-making is at the uniform velocity, turns right;
If the comparatively near and relative angle of relative distance just in time, then decision-making is for slowing down, and moves ahead;
If relative distance is comparatively near and relative angle is less than normal, then decision-making is for slowing down, and turns left;
If relative distance is comparatively near and relative angle is bigger than normal, then decision-making is for slowing down, and turns right;
If the comparatively far away and relative angle of relative distance just in time, then decision-making is for accelerating, and moves ahead;
If relative distance is comparatively far away and relative angle is less than normal, then decision-making is for accelerating, and turns left;
If relative distance is comparatively far away and relative angle is bigger than normal, then decision-making is for accelerating, and turns right.
Discretize is carried out to input:
Relative distance 0-1 rice is classified as 0.5 meter, and 1-2 rice is classified as 1.5 meters, and 2-3 rice is classified as 2.5 meters, and 3-4 rice is classified as 3.5 meters, and 4-5 rice is classified as 4.5 meters, and 5-6 rice is classified as 5.5 meters, and 6-7 rice is classified as 6.5 meters, and 7-8 rice is classified as 7.5 meters, is greater than 8 meters and is classified as 8 meters.
Relative angle 0-10 degree is classified as 5 degree, and 10-20 degree is classified as 15 degree, and 20-30 degree is classified as 25 degree, and 30-40 degree is classified as 35 degree, and 40-50 degree is classified as 45 degree, and 50-60 degree is classified as 55 degree, and 60-70 degree is classified as 65 degree, and 70-80 degree is classified as 75 degree, and 80-90 degree is classified as 85 degree.
Fuzzy polling list can be obtained thus (also need to take advantage of and amplification coefficient as follows
α):
Finally realize result as shown in Figure 3, (Px0, Py0) represents the bionical node that navigates, and bionical node is followed in (Px1, Py1) and (Px2, Py2) expression, makes to follow bionical node follow the trail of in sector region and move ahead by fuzzy formation control.
With reference to Figure 10, the L298N chip that motor drive module adopts ST company to produce, it is a kind of high voltage, big current motor drive ic.Principal feature is: operating voltage is high, and maximum operating voltage can reach 46V.Output current is large, and instantaneous peak current can reach 3A, and continuous firing electric current is 2A, rated power 25W.Support the driving of two-way direct current generator and a stepper motor.Adopt standard logic levels signal to control, there are two enable control ends, allow when not affecting by input signal or forbid that devices function has a logic power input end, internal logic circuit part is worked at lower voltages; Can external detection resistance, variable quantity is fed back to control circuit.
With reference to Figure 11; the LM2596 chip that power module adopts Texas Instrument (TI) to produce; it is a 3A electric current output buck switching mode integrated voltage-stabilized chip; include fixed oscillator (150KHZ) and benchmark voltage stabilizer (1.23v), and there are perfect protection circuit, current limit, Thermal shutdown circuit etc.Utilize this device only to need few peripheral components just can form efficient mu balanced circuit, what provide mainly contains multiple voltage such as 3.3V, 5V, 12V.
Operating process of the present invention is as follows, first the switch of multiple mobile node is struck out with the hand, namely power module is started working, now multiple mobile node is started working, navigate one bionical node and multiplely follow bionical node and put into water, drives by upper computer software sending controling instruction the bionical node that navigates.Following bionical node utilizes acoustic sweep to calculate relative distance, direction after the bionical node of navigator, and after fuzzy formation control device calculates, automatic tracing navigates bionical node-locus.Meanwhile, multiplely follow bionical node and gather water quality parameter information, send to the bionical node that navigates.The bionical node that navigates collects each node water quality parameter information, is forwarded to base station on the bank.
Above embodiment is only the preferred embodiment of this creation, and not in order to limit this creation, any amendment made within all spirit in this creation and principle, equivalent replacement, improvement etc., within the protection domain that all should be included in this creation.
Claims (7)
1. towards a Biomimetic Fish cooperative control method for water quality monitoring on a large scale, it is characterized in that: comprise the bionical node that navigates, follow bionical node and base station on the bank; It comprises the steps:
S1: base station sends running orbit steering order to the bionical node of navigator on the bank;
S2: follow bionical node searching and to navigate bionical node location, calculate relative distance and angle;
S3: according to fuzzy control method, follows the trail of the bionical node that navigates, gathers and send water quality parameter;
S4: the bionical node that navigates receives the information of following bionical node and sending, is sent to base station on the bank after parsing, packing;
S5: repeat step S1 ~ S5.
2., as claimed in claim 1 towards the Biomimetic Fish cooperative control method of water quality monitoring on a large scale, it is characterized in that: described fuzzy control method comprises the steps:
S31: obtain relative distance, relative angle, its domain is set up two each and every one membership functions, output domain sets up the speed of a ship or plane and six, course membership function;
S32: discretize is carried out to input, is divided into N, M discrete value;
S33: after input discrete value, calculate its fuzzy output according to 3 × 3 fuzzy inference rule tables that practical experience is set up, obtain M × N to decision value, described fuzzy control strategy comprises speed of a ship or plane information and course information;
S34: control direct current generator and steering wheel respectively according to fuzzy polling list, the multiple bionical mobile node of fuzzy formation control is collaborative to advance.
3. as claimed in claim 2 towards the Biomimetic Fish cooperative control method of water quality monitoring on a large scale, it is characterized in that: described fuzzy formation control strategy also comprises direction information and rotary speed information, the fuzzy polling list of described direction information and rotary speed information institute foundation calculates gained by following indistinct logic computer in advance:
Input: relative distance is far away, moderate, comparatively near with relative angle is less than normal, just in time, bigger than normal, set according to navigate-following mobile node relative position actual conditions; Relative distance is comparatively near at 0 ~ 5 meter, and 5 ~ 6 meters moderate, is greater than 6 meters far away; Relative angle is less than normal at 0 ~ 40 degree, and 40 ~ 50 degree just in time, and 50 ~ 90 degree bigger than normal;
Fuzzy rule is as follows:
If the moderate and relative angle of relative distance just in time, then decision-making is at the uniform velocity, moves ahead;
If relative distance is moderate and relative angle is less than normal, then decision-making is at the uniform velocity, turns left;
If relative distance is moderate and relative angle is bigger than normal, then decision-making is at the uniform velocity, turns right;
If the comparatively near and relative angle of relative distance just in time, then decision-making is for slowing down, and moves ahead;
If relative distance is comparatively near and relative angle is less than normal, then decision-making is for slowing down, and turns left;
If relative distance is comparatively near and relative angle is bigger than normal, then decision-making is for slowing down, and turns right;
If the comparatively far away and relative angle of relative distance just in time, then decision-making is for accelerating, and moves ahead;
If relative distance is comparatively far away and relative angle is less than normal, then decision-making is for accelerating, and turns left;
If relative distance is comparatively far away and relative angle is bigger than normal, then decision-making is for accelerating, and turns right;
Discretize is carried out to input:
Relative distance 0-1 rice is classified as 0.5 meter, and 1-2 rice is classified as 1.5 meters, and 2-3 rice is classified as 2.5 meters, and 3-4 rice is classified as 3.5 meters, and 4-5 rice is classified as 4.5 meters, and 5-6 rice is classified as 5.5 meters, and 6-7 rice is classified as 6.5 meters, and 7-8 rice is classified as 7.5 meters, is greater than 8 meters and is classified as 8 meters;
Relative angle 0-10 degree is classified as 5 degree, and 10-20 degree is classified as 15 degree, and 20-30 degree is classified as 25 degree, and 30-40 degree is classified as 35 degree, and 40-50 degree is classified as 45 degree, and 50-60 degree is classified as 55 degree, and 60-70 degree is classified as 65 degree, and 70-80 degree is classified as 75 degree, and 80-90 degree is classified as 85 degree.
4., as claimed in claim 1 towards the Biomimetic Fish cooperative control method of water quality monitoring on a large scale, it is characterized in that: described in follow bionical node system and comprise water quality sensor, electric charges amplify module, analog-to-digital conversion module, one-chip computer module, underwater sound communication module, GPRS module, locating module, attitude detection module, motor drive module, direct current generator, steering wheel and micro pump, described water quality sensor gathers water quality parameter information, described electric charges amplify module and water quality sensor, analog-to-digital conversion module is connected, described analog-to-digital conversion module is to the multiple signals synchronized sampling of multiple electric charges amplify resume module, described single-chip microcomputer processes the signal that modulus is sampled, described underwater sound communication module is by single-chip microcomputer output signal broadcast or reception instruction in water, single-chip microcomputer output signal ashore sends or receives instruction by described GPRS module, described motor drive module drives direct current generator and micro pump, described direct current generator, micro pump and steering wheel Collaboration respectively control biomimetics mobile node are advanced, turn to and rise and fall, described locating module acquisition node positional information.
5. as claimed in claim 4 towards the Biomimetic Fish cooperative control method of water quality monitoring on a large scale, it is characterized in that: described water quality parameter collection, underwater sound communication system, power system, locating module and attitude detection module share a microprocessor, described microprocessor is ARM Cortex M3 kernel 32 high performance STM32F103 chips.
6. as claimed in claim 1 towards the Biomimetic Fish cooperative control method of water quality monitoring on a large scale, it is characterized in that: the bionical node of described navigator, follow the appearance design that bionical node adopts imitative tuna.
7. as claimed in claim 1 towards the Biomimetic Fish cooperative control method of water quality monitoring on a large scale, it is characterized in that: the bionical node of described navigator and follow between bionical node and adopt underwater sound communication.
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| CN107505441A (en) * | 2017-07-14 | 2017-12-22 | 武汉飞令机器人科技有限公司 | A kind of Biomimetic Fish device that Water quality monitoring and analysis is carried out by internet |
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| CN110568140B (en) * | 2019-08-02 | 2021-10-29 | 浙江工业大学 | Pollution source exploration positioning method based on machine bionic fish |
| CN111901379A (en) * | 2020-06-29 | 2020-11-06 | 西安交通大学 | Robot fish cluster formation control system and control method based on Zigbee networking |
| CN112034735A (en) * | 2020-08-31 | 2020-12-04 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
| CN112418385A (en) * | 2020-12-10 | 2021-02-26 | 郑子龙 | Bionic intelligent agent control method, equipment and system |
| CN114379748A (en) * | 2021-12-22 | 2022-04-22 | 青岛五叠纪智能科技有限公司 | Bionic robot fish for monitoring corrosion condition of underwater pile foundation of offshore wind farm |
| CN116974291A (en) * | 2023-09-25 | 2023-10-31 | 农业农村部南京农业机械化研究所 | Control error determining method and device for master-slave cooperative navigation agricultural machinery |
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